Self-deployment algorithms for coverage improvement in a network of nonidentical mobile sensors with limited communication ranges

Efficient deployment algorithms are proposed in this paper to increase coverage in a network of nonidentical mobile sensors with limited communication radii. The proposed algorithms calculate and update the positions of the sensors iteratively in such a way that the overall network coverage increases. The notion of multiplicatively-weighted Voronoi (MWVoronoi) diagram is extended to the case of sensors with limited communication capability to introduce the limited communication MW-Voronoi (LCMW-Voronoi) diagram. This diagram is used to discover coverage holes in the network. The sensors move in such a way that the coverage holes in the network are eliminated as much as possible. Simulations demonstrate the efficacy of the proposed distributed deployment schemes.